# 多機飛行(Windows)
[按這裡回主頁](/jmId9lE7RHuT_PynedIa7Q?both)
:::info
:mega::mega::mega::mega:

<i class="fa fa-columns fa-fw"></i>**筆記說明** :
安安OwO~這裡是為了方便大家學習多機飛行，新開的資料夾。
<i class="fa fa-edit fa-fw"></i>**紀錄方法** :
會放上相關教學,請大家也可以紀錄實作時遇到的問題及其解決方式
:::
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# ==教學步驟==
## Mavproxy(lateset)
### 0.Prepare
#### 安裝Python2.7.13
https://www.howtogeek.com/197947/how-to-install-python-on-windows/
#### 安裝Python3.7.3(lastest)
https://www.python.org/downloads/release/python-373/
安裝路徑有差歐(我是裝在C:\Python37)
#### 編輯環境變數
先去電腦設定叫出編輯環境變數



確定Python3和Python2都有加入Path
#### 建立python2.exe及python3.exe
分別進入Python27及Python37
->複製裡面的python.exe
->分別改名為python2.exe及python3.exe
#### 安裝git(default)
https://git-scm.com/download/win
### 1. 安裝mavproxy(default)
打開CMD(路徑應為C:\Users\USER>)
pip3 install mavproxy
### 2. 利用數傳連接飛控板
#### 3dr radio Driver:
https://www.silabs.com/products/development-tools/software/usb-to-uart-bridge-vcp-drivers
#### connecting test:
打開CMD(COMXX可從裝置管理員確認)
cd \Python37\Lib\site-packages\MAVProxy
python3 mavproxy.py --master=COMXX --baudrate 57600 --aircraft MyCopter
## Dronekit
### 0.Prepare
#### 下載dronekit-python
https://dronekit-python.readthedocs.io/en/latest/contributing/developer_setup_windows.html
### 1. 安裝Dronekit及Dronekit-sitl(Dronekit的模擬器)
打開CMD(路徑應為C:\Users\USER>)
pip install dronekit
pip install dronekit-sitl
### 2. 同時連接sitl模擬器及Mission Planner地面站
#### CMD 1:開啟sitl模擬器
dronekit-sitl copter
#### CMD 2:利用mavproxy並聯通訊
cd \Python37\Lib\site-packages\MAVProxy
python3 mavproxy.py --master=tcp:127.0.0.1:5760 --out=udp:127.0.0.1:14550 --out=udp:127.0.0.1:14551
#### 開啟MissionPlanner
MissionPlanner設定:
Links Type:UDP + baudrate:57600 + local port:14550
#### CMD 3:執行script(simple_goto.py)
cd Desktop\dronekit-python\examples\simple_goto
python simple_goto.py
#### Task
看懂simple_goto.py及follow_me.py
### 3.swarm-uavs
#### clone swarm-uavs
打開CMD
cd Desktop\
git clone https://github.com/<your_fork_of_swarm-uavs>/swarm-uavs.git
#### CMD 1:開啟sitl模擬器
dronekit-sitl copter
#### CMD 2:利用mavproxy並聯通訊
cd \Python37\Lib\site-packages\MAVProxy
python3 mavproxy.py --master=tcp:127.0.0.1:5760 --out=udp:127.0.0.1:14550 --out=udp:127.0.0.1:14551
#### CMD 3:執行script(sync_flying.py)
cd Desktop\dronekit-python\examples\swarm-uavs
python2 sync_flying.py 127.0.0.1:14550 127.0.0.1:14551 3 3 10 --baudrate 57600

## Dronekit Tutorial
Quick start -> Developing -> API Reference
https://dronekit-python.readthedocs.io/en/latest/develop/best_practice.html
# ==問題討論==